Modelling Experimental Procedures for Manipulator Calibration

Abstract

A six degree of freedom manipulator, a PUMA 560, is calibrated using three different measurement systems in order to improve the accuracy of the manipulator. Closed loop kinematic chain modeling theory is presented. Variations in the models for each calibration method are presented. A simulation study is conducted to determine feasibility of the proposed methods. Experimental data is obtained and the actual calibration performed. A comparative analysis between both simulation and experiment and between measurement systems is performed. Various aspects regarding measurement system modelling are discussed. The calibrated kinematic parameters are presented as results.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1991
Accession Number
ADA245603

Entities

People

  • William E. Swayze

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Calibration
  • Computer Programs
  • Computers
  • Coordinate Systems
  • Data Acquisition
  • Engineering
  • Experimental Data
  • Geometry
  • Joints (Anatomy)
  • Mathematical Models
  • Measurement
  • Mechanical Engineering
  • Simulations
  • Translations
  • United States

Fields of Study

  • Physics

Readers

  • Computational Modeling and Simulation
  • Robotics and Automation.